ST Expansion SW Team / Mbed OS VL53L3CX_Shield_3Sensors_Interrupt_MbOS6x

Sample ranging application, using X_Nucleo_53L3A2 expansion board and supporting Satellite boards, to ranging from each sensor, using interrupts. Targetting MbedOS v6.10.

Dependencies:   X_NUCLEO_53L3A2

main.cpp@5:92a861d48253, 2021-05-07 (annotated)

Committer:
johnAlexander
Date:
Fri May 07 14:46:18 2021 +0000
Revision:
5:92a861d48253
Parent:
4:360dc34c3769
Child:
7:5b8a91c3bafc
Reformatted with astyle, to mbed contributing guidelines.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:c77591fc308d 1 /*
johnAlexander 4:360dc34c3769 2 * This VL53L3 Expansion board test application performs range measurements
johnAlexander 4:360dc34c3769 3 * using the onboard embedded centre sensor, in singleshot, polling mode.
johnAlexander 4:360dc34c3769 4 * Measured ranges are ouput on the Serial Port, running at 115200 baud.
johnAlexander 4:360dc34c3769 5 *
johnAlexander 4:360dc34c3769 6 * The User Blue button stops the current measurement and entire program,
johnAlexander 4:360dc34c3769 7 * releasing all resources.
charlesmn 0:c77591fc308d 8 *
johnAlexander 4:360dc34c3769 9 * The Reset button can be used to restart the program.
charlesmn 0:c77591fc308d 10 *
johnAlexander 5:92a861d48253 11 * *** Note :
johnAlexander 4:360dc34c3769 12 * Default Mbed build system settings disable print floating-point support.
johnAlexander 4:360dc34c3769 13 * Offline builds can enable this, again.
johnAlexander 4:360dc34c3769 14 * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md
johnAlexander 4:360dc34c3769 15 * .\mbed-os\platform\mbed_lib.json
johnAlexander 4:360dc34c3769 16 *
charlesmn 0:c77591fc308d 17 */
johnAlexander 5:92a861d48253 18
charlesmn 0:c77591fc308d 19 #include <stdio.h>
johnAlexander 3:42c96c9c627b 20 #include <time.h>
charlesmn 0:c77591fc308d 21
charlesmn 0:c77591fc308d 22 #include "mbed.h"
johnAlexander 4:360dc34c3769 23
johnAlexander 3:42c96c9c627b 24 #include "XNucleo53L3A2.h"
charlesmn 2:86876e590f28 25 #include "vl53L3_I2c.h"
charlesmn 0:c77591fc308d 26
charlesmn 0:c77591fc308d 27
johnAlexander 5:92a861d48253 28 #define I2C_SDA D14
johnAlexander 5:92a861d48253 29 #define I2C_SCL D15
charlesmn 0:c77591fc308d 30
johnAlexander 5:92a861d48253 31 #define MEASUREMENTTIMING 55
charlesmn 0:c77591fc308d 32
johnAlexander 3:42c96c9c627b 33 static XNucleo53L3A2 *board=NULL;
johnAlexander 3:42c96c9c627b 34 #if (MBED_VERSION > 60300)
johnAlexander 5:92a861d48253 35 UnbufferedSerial pc(USBTX, USBRX);
johnAlexander 5:92a861d48253 36 extern "C" void wait_ms(int ms);
johnAlexander 3:42c96c9c627b 37 #else
johnAlexander 5:92a861d48253 38 Serial pc(SERIAL_TX, SERIAL_RX);
johnAlexander 3:42c96c9c627b 39 #endif
charlesmn 0:c77591fc308d 40
charlesmn 0:c77591fc308d 41 static int int_centre_result = 0;
charlesmn 0:c77591fc308d 42 static int int_left_result = 0;
charlesmn 0:c77591fc308d 43 static int int_right_result = 0;
charlesmn 0:c77591fc308d 44
charlesmn 0:c77591fc308d 45
johnAlexander 5:92a861d48253 46 class WaitForMeasurement
johnAlexander 5:92a861d48253 47 {
johnAlexander 5:92a861d48253 48
charlesmn 0:c77591fc308d 49 public:
charlesmn 0:c77591fc308d 50
charlesmn 0:c77591fc308d 51
charlesmn 0:c77591fc308d 52 // this class services the interrupts from the ToF sensors.
charlesmn 0:c77591fc308d 53 // There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things.
charlesmn 0:c77591fc308d 54 // We keep things simple by only raising a flag so all the real work is done outside the interrupt.
charlesmn 0:c77591fc308d 55 // This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues.
johnAlexander 5:92a861d48253 56 WaitForMeasurement(): _interrupt(A1)
johnAlexander 5:92a861d48253 57 {
johnAlexander 5:92a861d48253 58 }
charlesmn 0:c77591fc308d 59
charlesmn 0:c77591fc308d 60
charlesmn 0:c77591fc308d 61 // constructor - Sensor is not used and can be removed
charlesmn 0:c77591fc308d 62 WaitForMeasurement(PinName pin,VL53LX_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
charlesmn 0:c77591fc308d 63 {
johnAlexander 5:92a861d48253 64 Devlocal = Dev;
charlesmn 0:c77591fc308d 65 _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // attach increment function of this counter instance
johnAlexander 5:92a861d48253 66
charlesmn 0:c77591fc308d 67 }
johnAlexander 5:92a861d48253 68
charlesmn 0:c77591fc308d 69 void process_right_interrupt()
charlesmn 0:c77591fc308d 70 {
johnAlexander 5:92a861d48253 71 printf("processing right interrupt\n");
charlesmn 0:c77591fc308d 72 }
charlesmn 0:c77591fc308d 73
johnAlexander 5:92a861d48253 74 // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt.
charlesmn 0:c77591fc308d 75 void got_interrupt()
charlesmn 0:c77591fc308d 76 {
charlesmn 0:c77591fc308d 77 _count++;
charlesmn 0:c77591fc308d 78
charlesmn 0:c77591fc308d 79 if (Devlocal->I2cDevAddr == NEW_SENSOR_CENTRE_ADDRESS)
charlesmn 0:c77591fc308d 80 int_centre_result = 1; //flag to main that interrupt happened
charlesmn 0:c77591fc308d 81 if (Devlocal->I2cDevAddr == NEW_SENSOR_LEFT_ADDRESS)
charlesmn 0:c77591fc308d 82 int_left_result = 1; //flag to main that interrupt happened
charlesmn 0:c77591fc308d 83 if (Devlocal->I2cDevAddr == NEW_SENSOR_RIGHT_ADDRESS)
charlesmn 0:c77591fc308d 84 int_right_result = 1; //flag to main that interrupt happened
charlesmn 0:c77591fc308d 85 }
charlesmn 0:c77591fc308d 86
johnAlexander 5:92a861d48253 87
charlesmn 0:c77591fc308d 88 //destructor
charlesmn 0:c77591fc308d 89 ~WaitForMeasurement()
charlesmn 0:c77591fc308d 90 {
charlesmn 0:c77591fc308d 91 printf("destruction \n");
charlesmn 0:c77591fc308d 92 }
charlesmn 0:c77591fc308d 93
charlesmn 0:c77591fc308d 94 private:
johnAlexander 4:360dc34c3769 95
charlesmn 0:c77591fc308d 96 InterruptIn _interrupt;
charlesmn 0:c77591fc308d 97 volatile int _count;
charlesmn 0:c77591fc308d 98 VL53LX_DEV Devlocal;
johnAlexander 5:92a861d48253 99 int status;
charlesmn 0:c77591fc308d 100 };
charlesmn 0:c77591fc308d 101
charlesmn 0:c77591fc308d 102
charlesmn 0:c77591fc308d 103
charlesmn 0:c77591fc308d 104 VL53LX_Dev_t devCentre;
charlesmn 0:c77591fc308d 105 VL53LX_Dev_t devLeft;
charlesmn 0:c77591fc308d 106 VL53LX_Dev_t devRight;
charlesmn 0:c77591fc308d 107 VL53LX_DEV Dev = &devCentre;
charlesmn 0:c77591fc308d 108
charlesmn 0:c77591fc308d 109
charlesmn 0:c77591fc308d 110
charlesmn 0:c77591fc308d 111
johnAlexander 5:92a861d48253 112
charlesmn 0:c77591fc308d 113 /*=================================== Main ==================================
charlesmn 0:c77591fc308d 114 =============================================================================*/
charlesmn 0:c77591fc308d 115 int main()
johnAlexander 5:92a861d48253 116 {
charlesmn 0:c77591fc308d 117 int status;
johnAlexander 3:42c96c9c627b 118 VL53L3 * Sensor;
charlesmn 0:c77591fc308d 119 uint16_t wordData;
charlesmn 0:c77591fc308d 120 uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right
johnAlexander 5:92a861d48253 121
johnAlexander 5:92a861d48253 122
charlesmn 0:c77591fc308d 123 WaitForMeasurement* int2;
charlesmn 0:c77591fc308d 124 WaitForMeasurement* int1;
charlesmn 0:c77591fc308d 125 WaitForMeasurement* int3;
charlesmn 0:c77591fc308d 126
charlesmn 0:c77591fc308d 127 pc.baud(115200); // baud rate is important as printf statements take a lot of time
charlesmn 0:c77591fc308d 128
charlesmn 0:c77591fc308d 129 printf("Hello world!\r\n");
charlesmn 0:c77591fc308d 130
charlesmn 2:86876e590f28 131 vl53L3_DevI2C *dev_I2C = new vl53L3_DevI2C(I2C_SDA, I2C_SCL);
charlesmn 0:c77591fc308d 132
charlesmn 0:c77591fc308d 133 /* creates the 53L1A1 expansion board singleton obj */
johnAlexander 3:42c96c9c627b 134 board = XNucleo53L3A2::instance(dev_I2C, A2, D8, D2);
charlesmn 0:c77591fc308d 135 printf("board created!\r\n");
charlesmn 0:c77591fc308d 136
charlesmn 0:c77591fc308d 137 /* init the 53L1A1 expansion board with default values */
charlesmn 0:c77591fc308d 138 status = board->init_board();
charlesmn 0:c77591fc308d 139 if (status) {
charlesmn 0:c77591fc308d 140 printf("Failed to init board!\r\n");
charlesmn 0:c77591fc308d 141 return 0;
charlesmn 0:c77591fc308d 142 }
johnAlexander 5:92a861d48253 143
johnAlexander 5:92a861d48253 144
charlesmn 0:c77591fc308d 145 printf("board initiated! - %d\r\n", status);
johnAlexander 5:92a861d48253 146
johnAlexander 5:92a861d48253 147 for (ToFSensor=0; ToFSensor<3; ToFSensor++) {
charlesmn 0:c77591fc308d 148 wait_ms(15);
johnAlexander 5:92a861d48253 149 switch(ToFSensor) {
charlesmn 0:c77591fc308d 150 case 0:
charlesmn 0:c77591fc308d 151 if (board->sensor_centre== NULL ) continue;
charlesmn 0:c77591fc308d 152 Dev=&devCentre;
charlesmn 0:c77591fc308d 153 Sensor=board->sensor_centre;
charlesmn 0:c77591fc308d 154 Dev->I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
charlesmn 0:c77591fc308d 155 printf("configuring centre channel \n");
charlesmn 0:c77591fc308d 156 break;
charlesmn 0:c77591fc308d 157 case 1:
charlesmn 0:c77591fc308d 158 if (board->sensor_left== NULL ) continue;
johnAlexander 5:92a861d48253 159 Dev=&devLeft;
charlesmn 0:c77591fc308d 160 Sensor=board->sensor_left;
charlesmn 0:c77591fc308d 161 Dev->I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
charlesmn 0:c77591fc308d 162 printf("configuring left channel \n");
charlesmn 0:c77591fc308d 163 break;
charlesmn 0:c77591fc308d 164 case 2:
charlesmn 0:c77591fc308d 165 if (board->sensor_right== NULL ) continue;
johnAlexander 5:92a861d48253 166 Dev=&devRight;
charlesmn 0:c77591fc308d 167 Sensor=board->sensor_right;
charlesmn 0:c77591fc308d 168 Dev->I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
charlesmn 0:c77591fc308d 169 printf("configuring right channel \n");
johnAlexander 5:92a861d48253 170 break;
charlesmn 0:c77591fc308d 171 default:
johnAlexander 5:92a861d48253 172 printf(" error in switch, invalid ToF sensor \n");
charlesmn 0:c77591fc308d 173 }
johnAlexander 5:92a861d48253 174
charlesmn 0:c77591fc308d 175 // configure the sensors
charlesmn 0:c77591fc308d 176 Dev->comms_speed_khz = 400;
charlesmn 0:c77591fc308d 177
charlesmn 0:c77591fc308d 178 Dev->comms_type = 1;
charlesmn 0:c77591fc308d 179
charlesmn 0:c77591fc308d 180 Sensor->VL53LX_RdWord(Dev, 0x01, &wordData);
charlesmn 0:c77591fc308d 181 printf("VL53L1X: %02X %d\n\r", wordData,Dev->I2cDevAddr);
johnAlexander 5:92a861d48253 182 /* Device Initialization and setting */
charlesmn 0:c77591fc308d 183
charlesmn 0:c77591fc308d 184 status = Sensor->VL53LX_DataInit();
charlesmn 0:c77591fc308d 185 status = Sensor->VL53LX_SetDistanceMode(VL53LX_DISTANCEMODE_LONG);
johnAlexander 5:92a861d48253 186 status = Sensor->VL53LX_SetMeasurementTimingBudgetMicroSeconds( MEASUREMENTTIMING * 1000);
charlesmn 0:c77591fc308d 187 status = Sensor->VL53LX_SmudgeCorrectionEnable(VL53LX_SMUDGE_CORRECTION_SINGLE);
charlesmn 0:c77591fc308d 188 status = Sensor->VL53LX_SetXTalkCompensationEnable(1);
charlesmn 0:c77591fc308d 189
johnAlexander 5:92a861d48253 190
johnAlexander 5:92a861d48253 191 }
johnAlexander 5:92a861d48253 192
johnAlexander 5:92a861d48253 193 if (board->sensor_centre!= NULL ) {
johnAlexander 5:92a861d48253 194 printf("starting interrupt centre\n");
johnAlexander 5:92a861d48253 195 Sensor=board->sensor_centre;
johnAlexander 5:92a861d48253 196 devCentre.I2cDevAddr = NEW_SENSOR_CENTRE_ADDRESS;
johnAlexander 5:92a861d48253 197 int1 = new WaitForMeasurement(A2,&devCentre);
johnAlexander 5:92a861d48253 198 status = Sensor->VL53LX_StartMeasurement();
johnAlexander 5:92a861d48253 199 printf("VL53L1_StartMeasurement %d \n",status);
johnAlexander 5:92a861d48253 200 status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
johnAlexander 5:92a861d48253 201 }
johnAlexander 5:92a861d48253 202
johnAlexander 5:92a861d48253 203
johnAlexander 5:92a861d48253 204 if (board->sensor_left!= NULL ) {
johnAlexander 5:92a861d48253 205 printf("starting interrupt left\n");
johnAlexander 5:92a861d48253 206 Sensor=board->sensor_left;
johnAlexander 5:92a861d48253 207 devLeft.I2cDevAddr = NEW_SENSOR_LEFT_ADDRESS;
johnAlexander 5:92a861d48253 208 int2 = new WaitForMeasurement(D8,&devLeft);
johnAlexander 5:92a861d48253 209 status = Sensor->VL53LX_StartMeasurement();
johnAlexander 5:92a861d48253 210 printf("VL53L1_StartMeasurement %d \n",status);
johnAlexander 5:92a861d48253 211 status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
johnAlexander 5:92a861d48253 212 }
johnAlexander 5:92a861d48253 213
johnAlexander 5:92a861d48253 214 if (board->sensor_right!= NULL ) {
johnAlexander 5:92a861d48253 215 printf("starting interrupt right\n");
johnAlexander 5:92a861d48253 216 Sensor=board->sensor_right;
johnAlexander 5:92a861d48253 217 devRight.I2cDevAddr = NEW_SENSOR_RIGHT_ADDRESS;
johnAlexander 5:92a861d48253 218 int3 = new WaitForMeasurement(D2,&devRight);
johnAlexander 5:92a861d48253 219 status = Sensor->VL53LX_StartMeasurement();
johnAlexander 5:92a861d48253 220 printf("VL53L1_StartMeasurement %d \n",status);
johnAlexander 5:92a861d48253 221 status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
johnAlexander 5:92a861d48253 222 }
johnAlexander 5:92a861d48253 223
johnAlexander 5:92a861d48253 224
johnAlexander 5:92a861d48253 225 // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result
johnAlexander 5:92a861d48253 226 // being non zero. The are set back to zero when processing is completed
johnAlexander 5:92a861d48253 227 while (1) {
johnAlexander 5:92a861d48253 228
johnAlexander 5:92a861d48253 229 VL53LX_MultiRangingData_t MultiRangingData;
johnAlexander 5:92a861d48253 230 VL53LX_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
johnAlexander 5:92a861d48253 231
johnAlexander 5:92a861d48253 232 wait_ms(10);
johnAlexander 5:92a861d48253 233
johnAlexander 5:92a861d48253 234 if (int_centre_result != 0) {
johnAlexander 5:92a861d48253 235 int_centre_result = 0;
johnAlexander 5:92a861d48253 236 status = board->sensor_centre->VL53LX_GetMultiRangingData( pMultiRangingData);
johnAlexander 5:92a861d48253 237 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
johnAlexander 5:92a861d48253 238 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 )) {
johnAlexander 5:92a861d48253 239 for(int j=0; j<no_of_object_found; j++) {
johnAlexander 5:92a861d48253 240 if (pMultiRangingData->RangeData[j].RangeStatus == 0) {
johnAlexander 5:92a861d48253 241 printf("centre\t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 5:92a861d48253 242 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 5:92a861d48253 243 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 5:92a861d48253 244 (pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65535.0),
johnAlexander 5:92a861d48253 245 (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65535.0));
johnAlexander 5:92a861d48253 246 }
johnAlexander 5:92a861d48253 247 }
johnAlexander 5:92a861d48253 248 }
johnAlexander 5:92a861d48253 249 int_centre_result = 0;
johnAlexander 5:92a861d48253 250 wait_ms( MEASUREMENTTIMING );
charlesmn 0:c77591fc308d 251 status = board->sensor_centre->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 252 }
johnAlexander 5:92a861d48253 253
charlesmn 0:c77591fc308d 254
johnAlexander 5:92a861d48253 255 if (int_left_result != 0) {
johnAlexander 5:92a861d48253 256 int_left_result = 0;
johnAlexander 5:92a861d48253 257 status = board->sensor_left->VL53LX_GetMultiRangingData( pMultiRangingData);
johnAlexander 5:92a861d48253 258 if ( status == 0) {
johnAlexander 5:92a861d48253 259 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
johnAlexander 5:92a861d48253 260 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 )) {
johnAlexander 5:92a861d48253 261 for(int j=0; j<no_of_object_found; j++) {
johnAlexander 5:92a861d48253 262 if (pMultiRangingData->RangeData[j].RangeStatus == 0) {
johnAlexander 5:92a861d48253 263 printf("left \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 5:92a861d48253 264 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 5:92a861d48253 265 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 5:92a861d48253 266 (pMultiRangingData->RangeData[j].SignalRateRtnMegaCps / 65535.0),
johnAlexander 5:92a861d48253 267 (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps / 65535.0) );
johnAlexander 5:92a861d48253 268 }
johnAlexander 5:92a861d48253 269 }
johnAlexander 5:92a861d48253 270 }
johnAlexander 5:92a861d48253 271 }
johnAlexander 5:92a861d48253 272 wait_ms( MEASUREMENTTIMING );
charlesmn 0:c77591fc308d 273 status = board->sensor_left->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 274 }
charlesmn 0:c77591fc308d 275
charlesmn 0:c77591fc308d 276
johnAlexander 5:92a861d48253 277 if (int_right_result != 0) {
johnAlexander 5:92a861d48253 278 // clear interrupt flag
johnAlexander 5:92a861d48253 279 int_right_result = 0;
johnAlexander 5:92a861d48253 280 status = board->sensor_right->VL53LX_GetMultiRangingData( pMultiRangingData);
johnAlexander 5:92a861d48253 281 if ( status == 0) {
johnAlexander 5:92a861d48253 282 // if valid result print it
charlesmn 0:c77591fc308d 283 int no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
johnAlexander 5:92a861d48253 284 if (( no_of_object_found < 10 ) && ( no_of_object_found != 0 )) {
johnAlexander 5:92a861d48253 285 for(int j=0; j<no_of_object_found; j++) {
johnAlexander 5:92a861d48253 286 if (pMultiRangingData->RangeData[j].RangeStatus == 0) {
johnAlexander 5:92a861d48253 287 printf("right \t status=%d, \t D=%5dmm, \t Signal=%2.2f Mcps, \t Ambient=%2.2f Mcps \n",
johnAlexander 5:92a861d48253 288 pMultiRangingData->RangeData[j].RangeStatus,
johnAlexander 5:92a861d48253 289 pMultiRangingData->RangeData[j].RangeMilliMeter,
johnAlexander 5:92a861d48253 290 (pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65535.0),
johnAlexander 5:92a861d48253 291 (pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65535.0) );
charlesmn 0:c77591fc308d 292 }
charlesmn 0:c77591fc308d 293 }
charlesmn 0:c77591fc308d 294 }
charlesmn 0:c77591fc308d 295 }
johnAlexander 5:92a861d48253 296 wait_ms( MEASUREMENTTIMING );
johnAlexander 5:92a861d48253 297 // clear theinterrupt and wait for another result
johnAlexander 5:92a861d48253 298 status = board->sensor_right->VL53LX_ClearInterruptAndStartMeasurement();
charlesmn 0:c77591fc308d 299
johnAlexander 5:92a861d48253 300 }
johnAlexander 5:92a861d48253 301 }
johnAlexander 5:92a861d48253 302 printf("terminated");
johnAlexander 5:92a861d48253 303 }
charlesmn 0:c77591fc308d 304
johnAlexander 3:42c96c9c627b 305 #if (MBED_VERSION > 60300)
johnAlexander 3:42c96c9c627b 306 extern "C" void wait_ms(int ms)
johnAlexander 5:92a861d48253 307 {
johnAlexander 3:42c96c9c627b 308 thread_sleep_for(ms);
johnAlexander 5:92a861d48253 309 }
johnAlexander 3:42c96c9c627b 310 #endif
charlesmn 0:c77591fc308d 311